| 摘要 |
An apparatus and method for assuring effective backup for sensor failure in robots, by utilizing a single extra sensor attached between the end actuator and the base. The single extra sensor provides absolute back-up for any sing le encoder failure that may occur in the system, and statistically significant back-up for any double encoder failure. A single additional sensor effective ly provides the robotic system with one redundant information input to the robo t control algorithm, which can be used in order to determine whether any of th e other control sensors, or even the additional sensor itself, has failed and is delivering an erroneous reading, and hence to warn the operator of the failure. A single additional sensor also provides useful warning of the simultaneous failure of two sensors, since the likelihood that two sensors fail simultaneously in a mode that makes the failures undetectable, can be regarded as statistically insignificant.
|
